CN115540887A - Method, server and vehicle for path planning - Google Patents

Abstract

The present application provides a path planning method, server and vehicle, the method includes: the server acquires a first path, the first path is the path from the current position of the vehicle to the task destination, and the first path includes one or more road sections The server determines the planned time information of the vehicle traveling on each section of the road, and the total number of vehicles on each section of the road when the vehicle is traveling according to the planned time information on each section of the road is less than or equal to the number of vehicles on each section of the road. The capacity of the section of road; the server sends route information to the vehicle, and the route information includes information about at least one section of the section or multiple sections of road and information about the planned time for the vehicle to travel on the at least one section of road. The embodiments of the present application help to avoid conflicts between vehicles and improve the passing efficiency between vehicles, thereby helping to realize orderly operation or passing between vehicles.

Description

Method, server and vehicle for path planning

technical field

The present application relates to the field of intelligent driving, and more specifically, relates to a path planning method, server and vehicle.

Background technique

Path planning is a common requirement in production and life, that is, to calculate an optimal path that meets the requirements based on a given starting point, end point, and planning requirements.

Existing path planning technologies are divided into two categories, one is a method of providing road-level path planning similar to maps, and its service object is manned vehicles. The driver has the highest decision-making power. The map will provide the vehicle with several types of optimal routes, which are finally chosen by the driver himself. The driver can also choose a route that is different from the route provided by the map. The other type is path planning for autonomous vehicles, and its service object is autonomous vehicles. The self-driving vehicle has a high-precision map, and can search for the optimal route by itself according to the high-precision map. The automatic driving of the vehicle is based on the idea of the game.

The current path planning technology is mainly aimed at the vehicle itself, and cannot avoid conflicts between vehicles. Therefore, how to realize the cooperative path planning among multiple vehicles is an urgent problem to be solved.

Contents of the invention

The present application provides a route planning method, a server and a vehicle, which help to avoid conflicts between vehicles and improve traffic efficiency between vehicles, thereby helping to realize orderly operation or traffic between vehicles.

In a first aspect, there is provided a method for path planning, which is characterized by comprising: obtaining a first path, the first path is a path from the current position of the vehicle to the task destination, and the first path includes one or more road sections; Determining the planned time information for the vehicle to travel on each of the one or more roads, so that when the vehicle travels according to the planned time information on each road, the total number of vehicles on each road is less than or equal to the the capacity of a section of road; sending route information to the vehicle, the route information including information on at least one section of the section or multiple sections of road and information on the planned time for the vehicle to travel on the at least one section of road.

In the embodiment of the present application, the route information issued by the server to the vehicle may include information on one or more roads and the planned time information on which the vehicle travels on one or more roads. control. The planning time information issued by the server can make the total number of vehicles on each road section less than or equal to the capacity of each road section when the vehicles are driving on each section of the road, avoiding road congestion caused by the total number of vehicles being greater than the capacity of the road. This helps to avoid conflicts between vehicles, improves the efficiency of traffic between vehicles, and helps to achieve orderly work or traffic between vehicles.

In some possible implementations, the method includes: acquiring a first route, the first route is a route from the current position of the vehicle to the task destination, and the first route includes one or more sections of road; The capacity of each section of road, determine the planning time information of the vehicle traveling on each section of the section or sections of road; send route information to the vehicle, the path information includes the information of at least one section of the section or sections of road and The planned time information of the vehicle traveling on the at least one section of road.

With reference to the first aspect, in some implementation manners of the first aspect, before acquiring the first route, the method further includes: acquiring task information, where the task information includes information indicating a destination of the task.

In some possible implementation manners, the method further includes: acquiring a second route according to the task destination, where the second route is associated with the first route.

In this embodiment of the present application, the server may obtain the second route through the information indicating the destination of the task in the task information, and then obtain the information of the first route through the second route.

In some possible implementations, the first path may be a part of the second path. Exemplarily, the task destination indicated in the task information is the first location, and the server can obtain the second path according to the first location. If the server determines that the second path from the starting position of the vehicle to the task destination includes a fault point (the fault point is impassable), then the service can first send the information of the third path to the vehicle, and the third path can be from The path from the current position of the vehicle to the fault point. Wherein the second path may be composed of the third path and the first path, and the first path may be a path from the failure point to the task destination.

After a period of time, if the server determines that the vehicle has arrived at the fault point and the fault at the fault point has been eliminated, the server can issue path information for the vehicle, which includes information on at least one section of the road in the first path and information on the vehicle's location in the first path. Planning time information for traveling on at least one section of the road.

With reference to the first aspect, in some implementations of the first aspect, the at least one section of road includes a first road, and the planned time information of the vehicle traveling on the first road includes information indicating the first moment and information for information indicating a second moment, the first moment is the moment when the vehicle enters the first road, and the second moment is the moment when the vehicle leaves the first road, the method further includes: at the first moment and the Between the second time, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of this vehicle is higher than that of another vehicle, instruct the other vehicle to drive before the first time leaving the first road, or, instructing the other vehicle to enter the first road after the second time, the other vehicle not planning to travel on the first road between the first time and the second time on the vehicle.

In the embodiment of the present application, when the server determines that the total number of vehicles on the first road at a certain moment is greater than the capacity of the first road, the server may send indication information to vehicles with lower priority at this moment, thereby indicating that the vehicles with lower priority A low vehicle leaves the first road before the first moment, or indicates a lower priority vehicle enters the first road after the second moment. Therefore, the total number of vehicles on the road at any time is less than or equal to the capacity of the road, avoiding conflicts between vehicles, improving the efficiency of traffic between vehicles, and helping to achieve orderly operation or traffic between vehicles.

With reference to the first aspect, in some implementations of the first aspect, the planned time information of the vehicle traveling on each road segment includes the time of entering each road segment and the time of leaving each road segment, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle enters each section of road and the speed information of the vehicle on each section of road, or, the planning time information of the vehicle traveling on each section of road includes driving The time away from each section of road and the speed information of the vehicle on each section of road.

With reference to the first aspect, in some implementations of the first aspect, the route information further includes information about the driving mode of the vehicle on the at least one section of the road, and the driving mode includes straight-line driving, natural turning mode or crab driving mode at least one of .

In this embodiment of the present application, the server may also indicate to the vehicle the information of the driving mode on at least one section of road, so that the vehicle may know the driving mode on each section of the at least one section of road.

With reference to the first aspect, in some implementations of the first aspect, the obtaining the first route includes: determining a road that allows the vehicle to travel according to the traffic level of the vehicle and/or the type of the vehicle, and the road that allows the vehicle to travel The driving road includes the one or more road sections; the first route is obtained according to the road that the vehicle is allowed to run on.

In the embodiment of the present application, the server can also determine the road that the vehicle is allowed to drive according to the traffic level of the vehicle and/or the type of the vehicle, which can help the server better plan the feasible path for the vehicle and avoid the vehicle from driving on the unqualified road superior.

In some possible implementation manners, the method further includes: determining the level of the vehicle according to the type of the vehicle; and determining a road on which the vehicle is allowed to travel according to the level of the vehicle.

In some possible implementation manners, the road grade of the one or more road sections is less than or equal to the traffic grade of the vehicle.

In some possible implementation manners, the road grade of the one or more road sections is less than or equal to the grade of the vehicle.

In some possible implementation manners, the server may determine the road on which the vehicle is allowed to travel when determining that the traffic level of the vehicle matches the road level, and/or when determining that the type of the vehicle matches the road level.

With reference to the first aspect, in some implementations of the first aspect, the acquiring the first route includes: sending information about the task destination to a map server; acquiring the first route obtained by the map server according to the task destination Information.

In the embodiment of the present application, when the server acquires the task destination of the vehicle, it may send the task destination to another server, so that the other server plans the first route. Another server may send the information of the first path to the server, which avoids saving the map information in the server, thereby helping to save the storage cost of the server.

With reference to the first aspect, in some implementation manners of the first aspect, the route information further includes information for instructing the vehicle to perform a chevron turn on the second road, and the at least one section of road includes the second road.

In the embodiment of the present application, if the task information acquired by the server includes information indicating that the vehicle needs to perform a herringbone U-turn, then the server may carry information indicating that the vehicle needs to perform a herringbone U-turn on the second road in the route information sent to the vehicle. The information of the herringbone U-turn, so that the vehicle clearly performs the Herringbone U-turn on the second road.

In a second aspect, a method for route planning is provided, the method comprising: the vehicle sends information about the current position of the vehicle to the server; the vehicle receives the route information sent by the server, and the route information includes information about at least one segment of roads in one or more segments of the road and The planned time information of the vehicle traveling on the at least one section of the road, when the vehicle is traveling according to the planned time information on each section of the road in the at least one section of the road, the total number of vehicles on each section of the road is less than or equal to the capacity of each section of the road , the first path formed by the one or more road sections is the path from the current position of the vehicle to the task destination.

With reference to the second aspect, in some implementations of the second aspect, the at least one section of road includes a first road, and the planned time information of the vehicle traveling on the first road includes information indicating the first moment and information for information indicating a second moment, the first moment is the moment when the vehicle enters the first road, and the second moment is the moment when the vehicle leaves the first road, the method further includes: the vehicle receives the information sent by the server instruction information, the instruction information is used to instruct the vehicle to leave the first road between the third moment; or, to instruct the vehicle to enter the first road after the fourth moment; wherein another vehicle is planned to be on the first road For vehicles traveling on the first road between the third moment and the fourth moment, the priority of the other vehicle is greater than or equal to the priority of the vehicle, the third moment is the same as the first moment or the third The time is after the first time, or the fourth time is the same as the second time or the fourth time is before the second time.

In some possible implementation manners, the indication information may be carried in another path information.

For example, the planning time information determined by the server for the vehicle 1 indicates that the vehicle ₁ enters the first road at time t1 and leaves the first road at time _t2 . Afterwards, the planned time information determined by the server for the vehicle 2 indicates that the vehicle ₂ enters the first road at time _t3 and leaves the first road at time t4. If the server determines that the capacity of the first road is ₁ and the time _t3 is located after the time t1 and before the time _t2 , then the server can send instruction information to the vehicle 1, which is used to indicate that the vehicle 1 is in the road before the time _t3 Drive away from the first road; or, if the server determines that the capacity of the first road is ₁ and the time t4 is after the time t1 and before the time _t2 , the server can send instruction information to the vehicle 1, which is used to indicate Vehicle ₁ enters this first road after time t4.

With reference to the second aspect, in some implementations of the second aspect, the planned time information of the vehicle traveling on each road segment includes the time of entering each road segment and the time of leaving each road segment, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle enters each section of road and the speed information of the vehicle on each section of road, or, the planning time information of the vehicle traveling on each section of road includes driving The time away from each section of road and the speed information of the vehicle on each section of road.

With reference to the second aspect, in some implementation manners of the second aspect, the method further includes: the vehicle prompts the user with information about the planned time when the vehicle travels on the at least one segment of the road.

In some possible implementation manners, the vehicle may prompt the user with information about the planned time for the vehicle to travel on the at least one segment of the road through sound or a human-machine interface (HMI).

With reference to the second aspect, in some implementations of the second aspect, the route information further includes information about the driving mode of the vehicle on the at least one section of the road, and the driving mode includes straight-line driving, natural turning mode or crab driving mode at least one of .

With reference to the second aspect, in some implementation manners of the second aspect, the route information includes information for instructing the vehicle to perform a herringbone U-turn on the second road, and the at least one section of road includes the second road.

With reference to the second aspect, in some implementations of the second aspect, the path information includes first identification information, and before receiving the path information sent by the server, the method further includes: sending task information to the server, the task information including information for indicating the destination of the task; receiving the second identification information sent by the server according to the task information; wherein, the method includes: if the first identification information matches the second identification information, according to the path information drive.

With reference to the second aspect, in some implementations of the second aspect, the method further includes: if the information on the at least one section of the road and/or the planned time information of the vehicle traveling on the at least one section of the road is successfully verified, according to This route information travels.

In a third aspect, an apparatus is provided, which includes: an acquisition unit configured to acquire a first path, the first path is a path from the current position of the vehicle to the task destination, and the first path includes one or more road sections; A determining unit, configured to determine the planned time information of the vehicle traveling on each section of the road section or sections, so that the total number of vehicles on each section of the road when the vehicle travels according to the planned time information on each section of the road Less than or equal to the capacity of each section of the road; the sending unit is used to send the route information to the vehicle, the route information includes the information of at least one section of the one or more sections of roads and the plan for the vehicle to travel on the at least one section of the road time information.

With reference to the third aspect, in some implementation manners of the third aspect, the acquiring unit is further configured to acquire task information before acquiring the first route, where the task information includes information indicating a destination of the task.

With reference to the third aspect, in some implementations of the third aspect, the at least one section of road includes a first road, and the planned time information of the vehicle traveling on the first road includes information indicating the first moment and information for information indicating the second moment, the first moment is the moment when the vehicle enters the first road, and the second moment is the moment when the vehicle leaves the first road, the sending unit is also used for: at the first Between time and the second time, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than the priority of another vehicle, send instruction information to the other vehicle, The indication information is used to instruct the other vehicle to leave the first road before the first moment, or to indicate the other vehicle to enter the first road after the second moment, and the other vehicle is planned to Vehicles traveling on the first road between the first moment and the second moment.

With reference to the third aspect, in some implementations of the third aspect, the planned time information of the vehicle traveling on each road segment includes the time of entering each road segment and the time of leaving each road segment, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle enters each section of road and the speed information of the vehicle on each section of road, or, the planning time information of the vehicle traveling on each section of road includes driving The time away from each section of road and the speed information of the vehicle on each section of road.

With reference to the third aspect, in some implementations of the third aspect, the route information further includes information about the driving mode of the vehicle on the at least one section of the road, and the driving mode includes straight-line driving, natural turning mode or crab driving mode at least one of .

With reference to the third aspect, in some implementations of the third aspect, the acquiring unit is specifically configured to: determine the road on which the vehicle is allowed to travel according to the traffic level of the vehicle and/or the type of the vehicle, and the road that the vehicle is allowed to travel on The road includes the one or more road sections; the first route is obtained according to the road that allows the vehicle to travel.

With reference to the third aspect, in some implementation manners of the third aspect, the obtaining unit is specifically configured to: send the information of the mission destination to the map server; obtain the information of the first route obtained by the map server according to the mission destination. information.

With reference to the third aspect, in some implementation manners of the third aspect, the route information further includes information for instructing the vehicle to perform a chevron turn on the second road, and the at least one section of road includes the second road.

In a fourth aspect, a device is provided, which includes: a sending unit, configured to send information about the current location of the device to a server; a receiving unit, configured to receive route information sent by the server, the route information including one or more road segments Information on at least one section of the road and the planned time information of the device traveling on the at least one section of the road. When the device travels according to the planned time information on each section of the at least one section of the road, the total number of vehicles on each section of the road is less than or Equal to the capacity of each section of road, the first path formed by one or more sections of road is the path from the current location of the device to the task destination.

With reference to the fourth aspect, in some implementations of the fourth aspect, the at least one section of road includes a first road, and the planned time information of the device traveling on the first road includes information indicating the first moment and information for information indicating a second moment, the first moment is the moment when the device enters the first road, the second moment is the moment when the device leaves the first road, and the receiving unit is also used to: receive the information sent by the server instruction information, the instruction information is used to instruct the device to leave the first road between the third moment; or, to instruct the device to enter the first road after the fourth moment; wherein, another vehicle is planned to be on the first road For vehicles traveling on the first road between the third moment and the fourth moment, the priority of the other vehicle is greater than or equal to the priority of the device, the third moment is the same as the first moment or the third The time is after the first time, or the fourth time is the same as the second time or the fourth time is before the second time.

In some possible implementation manners, the indication information may be carried in another path information.

With reference to the second aspect, in some implementations of the second aspect, the planned time information of the device traveling on each road segment includes the time of entering each road segment and the time of leaving each road segment, or, The planning time information of the device traveling on each section of road includes the time when the vehicle enters each section of road and the speed information of the vehicle on each section of road, or, the planning time information of the device traveling on each section of road includes driving The time away from each section of road and the speed information of the vehicle on each section of road.

With reference to the fourth aspect, in some implementation manners of the fourth aspect, the device further includes: a prompting unit configured to prompt the user with information about the planned time for the device to travel on the at least one section of the road.

With reference to the fourth aspect, in some implementations of the fourth aspect, the route information further includes information about the driving mode of the device on the at least one section of the road, and the driving mode includes straight-line driving, natural turning mode or crab driving mode at least one of .

With reference to the fourth aspect, in some implementation manners of the fourth aspect, the route information includes information for instructing the device to perform a herringbone U-turn on the second road, and the at least one section of road includes the second road.

With reference to the fourth aspect, in some implementation manners of the fourth aspect, the path information includes first identification information, and the sending unit is further configured to send task information to the server before receiving the path information sent by the server, the The task information includes information used to indicate the task destination; the receiving unit is also used to receive the second identification information sent by the server according to the task information; Before driving on the route information, it is determined that the first identification information matches the second identification information.

With reference to the fourth aspect, in some implementation manners of the fourth aspect, the device further includes: a checking unit, configured to determine information about at least a section of the road and/or the device before driving according to the route information. The planning time information of traveling on the at least one section of the road is verified successfully.

In a fifth aspect, a device is provided, the device includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit, so that the device performs any one of the possibilities in the first aspect Methods.

According to a sixth aspect, there is provided a device, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit, so that the device can perform any one of the possibilities in the second aspect. Methods.

In a seventh aspect, a server is provided, and the server includes the device described in the third aspect or the fifth aspect.

In an eighth aspect, a vehicle is provided, and the vehicle includes the device described in the fourth aspect or the sixth aspect.

In a ninth aspect, a computer program product is provided, the computer program product comprising: computer program code, when the computer program code is run on a computer, causing the computer to execute the method in the above first aspect; or, when the When the computer program code is run on the computer, the computer is made to execute the method in the second aspect above.

It should be noted that all or part of the above computer program code may be stored on the first storage medium, where the first storage medium may be packaged together with the processor, or may be packaged separately with the processor, and this embodiment of the present application does not make any Specific limits.

In a tenth aspect, a computer-readable medium is provided, the computer-readable medium stores program codes, and when the computer program codes run on a computer, the computer executes the method in the above-mentioned first aspect or the second aspect .

In an eleventh aspect, an embodiment of the present application provides a chip system, the chip system includes a processor, configured to call a computer program or a computer instruction stored in a memory, so that the processor performs any of the above aspects and any of the above The method described in the possible design of the aspect, or the method described in the possible design of any of the above two aspects and any of the above aspects.

With reference to the eleventh aspect, in a possible implementation manner, the processor is coupled to the memory through an interface.

With reference to the eleventh aspect, in a possible implementation manner, the chip system further includes a memory, where computer programs or computer instructions are stored.

In a twelfth aspect, the embodiment of the present application provides a processor, the processor is used to call the computer program or computer instruction stored in the memory, so that the processor executes any aspect and the possible design of any aspect above. The method, or, so that the processor executes the method described in any two aspects and possible designs of any one of the above aspects.

In a thirteenth aspect, the embodiment of the present application provides a vehicle control system, which includes the device as described in the third aspect above.

Description of drawings

FIG. 1 is an application scenario of the path planning method according to the embodiment of the present application.

Fig. 2 is a schematic block diagram of a system provided by an embodiment of the present application.

Fig. 3 is a schematic flowchart of a method for path planning provided by an embodiment of the present application.

Fig. 4 is a schematic diagram of road segments and key nodes provided by the embodiment of the present application.

Fig. 5 is a schematic diagram of allocating time resources for one or a section of roads provided by the embodiment of the present application.

Fig. 6 is a schematic diagram of a natural turning mode.

Fig. 7 is a schematic diagram of a crab pattern.

Fig. 8 is a schematic diagram of the route information delivered to the vehicle by the route planning module provided by the embodiment of the present application.

FIG. 9 is a schematic flowchart of a method for path planning provided by an embodiment of the present application.

Fig. 10 is another schematic flowchart of the path planning method provided by the embodiment of the present application.

Fig. 11 is a schematic diagram of a herringbone U-turn.

Fig. 12 is a schematic diagram of the route information delivered to the vehicle by the route planning module provided by the embodiment of the present application.

Fig. 13 is another schematic flowchart of a path planning method provided by an embodiment of the present application.

Fig. 14 is a schematic block diagram of a device provided by an embodiment of the present application.

Fig. 15 is another schematic block diagram of the device provided by the embodiment of the present application.

Fig. 16 is a schematic block diagram of a system provided by an embodiment of the present application.

detailed description

The technical solution in this application will be described below with reference to the accompanying drawings.

FIG. 1 is an application scenario of the path planning method provided by the embodiment of the present application. In this application scenario, the vehicle 100 and the cloud service system 200 may be included, and the vehicle 100 and the cloud service system 200 may communicate through a network.

Some or all functions of the vehicle 100 are controlled by the computing platform 150 . Computing platform 150 may include at least one processor 151 that may execute instructions 153 stored in a non-transitory computer-readable medium such as memory 152 . In some embodiments, computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of vehicle 100 in a distributed manner. The processor 151 may be any conventional processor, such as a central processing unit (central processing unit, CPU). Alternatively, the processor 151 may also include, for example, an image processor (graphic process unit, GPU), a field programmable gate array (field programmable gate array, FPGA), a system on chip (system on chip, SOC), an application-specific integrated chip (application specific integrated circuit, ASIC) or their combination.

In addition to instructions 153, memory 152 may also store data such as road maps, route information, the vehicle's position, direction, speed, and other such vehicle data, among other information. Such information may be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and/or manual modes.

It should be understood that the structure of the vehicle in Fig. 1 should not be construed as limiting the embodiment of the present application.

Optionally, the above vehicle 100 may be a car, truck, motorcycle, bus, boat, plane, helicopter, lawn mower, recreational vehicle, playground vehicle, construction equipment, tram, golf cart, train, etc. The embodiments of the present application do not make special limitations.

In addition, the application scenario shown in FIG. 1 may also include a cloud server. In the embodiment of the present application, the cloud server may carry road information and planning time information when the vehicle is driving on the road in the route information delivered to the vehicle. The planning time information issued by the server can make the total number of vehicles on each road section less than or equal to the capacity of each road section when the vehicles are driving on each section of the road, avoiding road congestion caused by the total number of vehicles being greater than the capacity of the road. This helps to avoid collisions between vehicles.

In an embodiment, the cloud server can also be realized by a virtual machine.

As mentioned above, the existing path planning technologies for vehicles are divided into two categories. One is a method that provides road-level path planning similar to maps, and its service object is manned vehicles. The driver has the highest decision-making power. The map will provide the vehicle with several types of optimal routes, which are finally chosen by the driver himself. The driver can also choose a route that is different from the route provided by the map. The other type is path planning for autonomous vehicles, and its service object is autonomous vehicles. The self-driving vehicle has a high-precision map, and can search for the optimal route by itself according to the high-precision map. The automatic driving of the vehicle is based on the idea of the game. The current path planning technology is mainly aimed at the vehicle itself, and cannot avoid conflicts between vehicles.

In view of this, the embodiment of the present application provides a method and server for route planning, which can allocate road resources and time resources for multi-vehicle coordination, and carry information such as location and time in the route information sent to vehicles, so as to realize the control of vehicles. strong control. The planning time information issued by the server can make the total number of vehicles on each road section less than or equal to the capacity of each road section when the vehicles are driving on each section of the road, avoiding road congestion caused by the total number of vehicles being greater than the capacity of the road. This helps to avoid conflicts between vehicles, and ultimately achieves orderly passage or operation between vehicles, which can improve the efficiency of vehicle passage or operation and reduce manual operation costs. The technical solutions of the embodiments of the present application can be applied to automated driving scenarios such as ports, mines, or closed parks, and can also be applied to urban road traffic scenarios. The embodiments of the present application do not limit the specific applicable scenarios.

Fig. 2 shows a schematic block diagram of a system provided by an embodiment of the present application. Among them, the system includes an upper layer application (or platform), a collaborative driving map module, a road-level collaborative path planning module, a lane-level refined guidance module, and vehicles. Wherein, the upper-layer application can be deployed on the server or on the vehicle, and can receive user input through a user interface (UI), such as setting task information, road information, and lane information. The collaborative driving map module, the road-level collaborative path planning module, and the lane-level refined guidance module can belong to the collaborative driving system, and the collaborative driving system is connected upward to the server and downward to the vehicle.

A road can usually consist of one or more lanes. The road-level path can instruct the vehicle to drive on the corresponding road, mainly used to indicate the driving direction at the intersection, and generally does not restrict the specific behavior of the vehicle in the road; the lane-level path can require the vehicle to drive on a specific lane in the road, Vehicles are not allowed to overtake, change lanes or cross lanes at will.

It should be understood that the collaborative driving map module, the road-level collaborative path planning module, and the lane-level refined guidance module may belong to the same server (for example, a collaborative driving system); or, the collaborative driving map module may belong to one server, and the road-level collaborative path planning module The module as well as the Lane Level Refined Guidance module can belong to another server. Alternatively, the collaborative driving map module, the road-level collaborative path planning module, and the lane-level refined guidance module can be different modules, or two modules, or one module, or some module functions can also be deployed on other servers or In other systems, this embodiment of the present application does not limit it. It can be understood that when the upper layer application is deployed on the server, it can be deployed on the same server as one or more of the collaborative driving map module, the road-level collaborative path planning module, and the lane-level fine guidance module, or it can be deployed on different on the server.

The upper layer application (or platform) can provide road and lane attributes to the collaborative driving map module, where the attributes include but are not limited to:

(1) Passability of the road

The traversable attribute of a road can be understood as whether the road is traversable, or the conditions that need to be met when it is traversable. Wherein, the traversable condition of the road can be determined according to one or more of the following: the destination of the vehicle, the task type of the vehicle, the type of the vehicle, and the like. For example, a certain road is passable under all circumstances. Another example is that only vehicles whose final destination is on the road can pass, which is common in production environments. If there is production equipment on a road, only vehicles that need to work on the road can drive into the road. It can also be said that the task type of the vehicle matches the operation type on the road, and the rest of the vehicles can only choose to detour. For another example, only certain types of vehicles, such as special vehicles, fire trucks, ambulances, etc., can pass on a certain road.

The traversable attributes of the road may also include road grades, and in a possible implementation manner, vehicle types also correspond to corresponding vehicle grades. When the vehicle level is higher than or equal to the road level, the vehicle can drive on the road. For example, road grades are 0-3, where grade 0 has no requirements for vehicle types, that is, all vehicles can drive on the road, and different types of vehicles correspond to different grades. The grade of ordinary vehicles is grade 1, which can Drive on roads with road class 0 or 1, but not on roads with road class 2 or 3, special vehicles with higher class, for example, fire engines, ambulances with class 3, can be on all roads drive. For another example, for a certain type of vehicle, its vehicle level is 2. Then this type of vehicle can drive on roads with road class 0-2, but not on roads with road class 3 or greater than 3.

In yet another possible implementation manner, when the upper layer application (or platform) delivers the task information of the vehicle or the vehicle uploads the task information, the traffic level of the vehicle may be carried in the task information. When the traffic level of the vehicle is higher than or equal to the road level, the vehicle can drive on the road. For example, if the traffic level of the vehicle is 2, then the vehicle can run on roads with a road level of 0-2, but cannot drive on roads with a road level of 3 or greater than 3. For another example, if the traffic level of the vehicle is 5 and the highest road level is also 5, then the server can select a path from the current location to the task destination for the vehicle from all roads.

The passable attribute of the road can be determined according to one or more of the vehicle's traffic level, vehicle type, vehicle task type, vehicle task destination, etc., so that when planning the route, the allowed vehicles can be determined accordingly. the way.

(2) Availability status of roads and lanes

The availability status of roads and lanes can be understood as whether the roads and lanes are passable, which has nothing to do with vehicles or tasks. Usually, roads and lanes are closed due to safety issues. When the safety problem is resolved, the relevant roads and lanes can be opened.

(3) Capacity of the road

The capacity of the road can be used as a reference to determine the time resource allocation in the route planning of the multi-vehicle system.

The capacity of a road refers to the upper limit of the number of vehicles that can be on the road at the same time for one or a section of road. Allocating time resources according to the capacity of the road can prevent locking or efficiency reduction caused by vehicles pushing. The capacity of a road may be related to the length, width, number of lanes, etc. of the road. For example, the more lanes a road has, the larger the capacity of the road can be; or, the capacity of the road can also be related to the business attribute of the road; or, the capacity of the road can also be related to the guidance capability of the upper layer application, for example, the upper The stronger the application capability, the denser the vehicles on the road without locking up and so on.

(4) Type of lane

The type of lane can be related to business needs, generally divided into working lanes and overtaking lanes, that is, vehicles that need to work on a certain working lane can drive on the working lane; vehicles that only pass the road can drive on the road down the passing lane.

In addition, it can also be set for some special needs or scenarios. For example, in the port scene, the vehicle has a herringbone U-turn function. For some special tasks, the vehicle needs to realize a herringbone U-turn at a suitable position, so when allocating road resources to the vehicle, it is necessary to pay attention to whether the road supports a Herringbone U-turn.

FIG. 3 shows a schematic flowchart of a path planning method 300 provided by an embodiment of the present application. The method can be executed by a vehicle, a cloud server, and an upper layer application (or platform), wherein the cloud server includes a path planning module and a collaborative driving map module, and the method 300 includes:

S301. The path planning module acquires map information sent by the collaborative driving map module, where the map information may include road topological relationships.

It should be understood that the route planning module may include the road-level coordinated route planning module and the lane-level refined guidance module shown in FIG. 2 , and the coordinated driving map module may be the coordinated driving map module shown in FIG. 2 above.

It should also be understood that the route planning module obtains the map information sent by the cooperative driving map module, which may be that the route planning module in cloud server a obtains map information from the cooperative driving map module of cloud server b; it may also be the route planning module in cloud server a Obtain map information from the collaborative driving map module of cloud server a. Figure 3 is an example in which the path planning module and the cooperative driving map module are located in the same cloud server.

The map information includes the topological relationship of the map road network, that is, the upstream and downstream relationship of the road. According to the topological relationship of the road, a feasible path from the start point to the end point can be planned.

In one embodiment, after the route planning module obtains the map information from the cooperative driving map module, the map information can be saved in the route planning module. Then the next time, after the path planning module receives the task information, it does not need to obtain the map information from the collaborative map module.

S302, the path planning module acquires task information.

In one embodiment, the path planning module can obtain task information from an upper-layer application (or platform). For example, for scenarios such as ports, mines, or closed parks, the dispatch center in the area can send the task information of the vehicle to the cloud server, and request the cloud server to plan the path for the vehicle.

In one embodiment, the path planning module can also obtain task information from the vehicle. For example, for urban traffic scenarios, the driver's operation can trigger the vehicle to upload mission information to the cloud server and apply for route planning when traveling.

In an embodiment, the task information may include static information and dynamic information. Among them, the static information includes but is not limited to task destination, traffic level, inherent attributes of the vehicle, and the like. Among them, task destination, traffic level, and inherent attributes of vehicles can all be used in combination with the passable attributes of roads, and whether vehicles are allowed to pass is judged from the traffic rules of the road, for example, when the traffic level is greater than a certain road or a certain section When the grade is selected, vehicles can pass on this road or this section of road. The inherent attributes of the vehicle can include one or more of the following: vehicle type, size information such as vehicle height and width, and maneuverability information such as minimum turning radius and maximum climbing slope, license plate information (some scenes that restrict traffic based on license plates, for example, The tail number of the license plate or the region or province to which the vehicle belongs), etc., based on this information, it can be judged from the perspective of the vehicle whether the road meets the driving conditions of the vehicle, for example, large vehicles are not allowed, height restrictions, width restrictions, sharp turns, steep slopes, etc. steep etc. Static information is mainly used to allocate space resources (road resources) to vehicles.

In one embodiment, the task information sent by the vehicle to the server during driving in the urban scene may include the task destination and the inherent attributes of the vehicle.

In one embodiment, the task information may not include the task destination but include the task purpose, for example, when the task purpose is charging and the location of the charging pile is not specified in the task information, the cloud server can select an available charging pile for the vehicle . The cloud server can send the navigation information to the vehicle, and the navigation information can include the task ID and the task destination, wherein the task ID is used for the vehicle to check whether there is a problem with the route information.

The dynamic information can include the task priority of the vehicle, which is mainly used to allocate time resources to the vehicle. Unlike static information, dynamic information will not only affect the vehicle it belongs to, but also other related vehicles. For example, when two or more vehicles are driving on the road at the same time, each vehicle is assigned a time window on each road section according to its task priority. The higher the priority, the more time the vehicle has when allocating time resources. A high weight means that the mission requirements of high-priority vehicles are met first. When there is a conflict in the time resource allocation of two vehicles, it is usually the time to adjust the time of the lower priority vehicle.

For example, if the capacity _on a road is ₁ , vehicles with high task priority will enter the road at time T1 and leave the road at time T2. _At this time, if another vehicle with a low task priority is ready to enter the road at time T3 ₍ T3 can be _a time between T1 and T2 ₎ , the cloud can instruct it to reduce its speed so as to ensure Enter the road after time _T2 .

In an embodiment, the task priority of the vehicle may be obtained from dynamic information, or may be obtained from static information. For example, the inherent attributes of the vehicle in the static information may include the type of the vehicle. For example, the cloud server can store the correspondence between vehicle types and vehicle task priorities, such as ambulances, fire trucks and other special vehicles corresponding to the highest task priority.

S303. The path planning module determines a feasible path according to the task information, and the feasible path includes one or more road sections.

In one embodiment, the path planning module can determine the feasible path according to the static information in the task information and the inherent attributes of roads and lanes.

Exemplarily, the road and lane types may include inherent attributes of roads and lanes, such as width, slope, and curvature. This type of attribute can be obtained through high-precision map collection, and will be updated during road renovation. The path planning module can combine the inherent attributes of the vehicle and the inherent attributes of roads and lanes to determine feasible paths. For example, the gradient of each section of road in one or more sections of road needs to be less than or equal to the maximum climbing slope of the vehicle; for another example, the width of the lane in each section of road in one or more sections of road needs to be greater than or equal to the width of the vehicle.

In one embodiment, the path planning module can determine the feasible path according to the static information in the task information and the business attributes of roads and lanes.

Exemplarily, the business attributes of roads and lanes may include passable attributes, steerable attributes, and special road lane attributes (for example, bus lanes) of the road. The path planning module can determine the feasible path according to the traffic level in the static information and the road level in the passable attribute of the road. The road class of each road segment in the one or more road segments is less than or equal to the traffic class.

In one embodiment, the path planning module can determine the feasible path according to the static information in the task information and the availability status of roads and lanes.

Exemplarily, the availability status of roads and lanes can be described by using (OPEN) and unavailable (CLOSE). For example, in a production operation scenario, if there is a vehicle failure or an item falls, as an example to ensure the safety of the vehicle, it is usually necessary to ban the relevant area, so that the availability status of the corresponding road and lane is set to CLOSE; in an urban environment, it is usually Due to road construction and other reasons, the relevant roads and lanes are surrounded by guardrails, so that the availability status of the corresponding roads and lanes is set to CLOSE. The route planning module may determine that the availability status of each road segment in the one or more road segments may be OPEN.

It should be understood that the business attributes of roads and lanes can be configured by calling the map interface according to business requirements.

It should also be understood that the path planning module can combine task information and multiple parameters to determine a feasible path. The plurality of parameters may include at least two of inherent attributes of roads and lanes, service attributes of roads and lanes, and usability status of roads and lanes.

In one embodiment, the path planning module may not obtain map information from the cooperative driving map module, but after obtaining the task information, the task destination in the task information or the task purpose planned according to the task purpose in the task information sent to the collaborative driving map module. The cooperative driving map module can plan a feasible path for the vehicle according to the current location information of the vehicle and the mission destination, and send the information of the feasible path to the path planning module. In this way, there is no need to store map information in the path planning module, which helps to reduce storage overhead in the path planning module.

S304, the path planning module acquires the capacity information of each road segment in the one or more road segments from the cooperative driving map module.

S305. According to the capacity information of each road segment, determine the planned time information for the vehicle to travel on each road segment.

In order to realize multi-vehicle collaborative path planning, time resources can be assigned to each vehicle. Time resource allocation needs to satisfy capacity constraints. Fig. 4 shows a schematic diagram of road segments and key nodes.

The object described by the capacity is a road or a section of road. As shown in Figure 3, the black dots are key nodes. There is a road or a section of road between two key nodes, and the capacity of this road or this section of road can be described by the same parameter. Exemplarily, the starting point and the ending point of a road may be key nodes. For shorter roads, the capacity of the entire road can be described by one road capacity; for longer roads, in order to improve management efficiency, it is necessary to add key nodes at appropriate locations. For example, the third road shown in Figure 3, because of its long length, set key nodes at appropriate positions and divide it into multiple sections, each section has a capacity.

When allocating time resources for vehicles, the path planning module can plan the arrival time for each key node according to all the roads that the vehicle passes and the road capacity of each road segment. Fig. 5 shows a schematic diagram of allocating time resources for one or a section of roads. As shown in Figure 5, the horizontal axis is time, and each rectangular frame represents the time window for a vehicle to pass through the road or the road section, and the time corresponding to the left side of the rectangular frame is the moment when the vehicle arrives at the starting point of the road. The time corresponding to the right side of the rectangular frame is the moment when the vehicle reaches the end of the road. From the perspective of the time axis, at any moment, there are no more than three corresponding rectangular boxes, which means that at any moment, the number of vehicles on the road does not exceed three. If the capacity of the road is 3 or greater, the time resource allocation result meets the capacity requirement.

If the capacity requirement is not met (for example, the number of vehicles on the road at a certain moment is greater than the capacity of the road), the path planning module can prioritize the tasks of the vehicles. Adjust the time window for vehicles with lower priority, such as delaying the time when they enter the road, or advancing the time when they leave the road.

After the space resources and time resources are allocated to the vehicle, detailed route information can be planned for the vehicle. Exemplarily, the route information sent by the route planning module to the vehicle can be described by a series of point sets, and these points can include but not limited to the following types of information:

(1) Location information

Location information is general information. Location information can be described by point coordinates, or by road and lane IDs.

Wherein, the coordinates of the point can be described by longitude and latitude; or, the coordinates of the point can also be described by the coordinates in the local coordinate system. For example, for a port scene, a coordinate system can be established for the port. The coordinate system can be saved in the cloud server and the vehicle, and when the vehicle receives the coordinates of the center point of the coordinate system, it can determine the position information of the point.

(2) Speed and time information

The speed and time information is that the vehicle arrives at the corresponding waypoint at the specified time in the planned route during the driving process. Through this kind of information, the consistency in space and time can be guaranteed, and the vehicle can be effectively driven according to the waypoint issued by the cloud server, thereby ensuring the effectiveness of cloud server planning.

(3) Driving mode of the vehicle

In order to adapt to different operating environments, commercial vehicles can have more driving modes (or control modes) than passenger vehicles. The two common driving modes include natural turning mode and crab driving mode.

Fig. 6 shows a schematic diagram of a natural turning mode. The natural turning mode is a common turning mode, which is adopted by most passenger cars.

In one embodiment, the natural turning mode can also include three sub-modes. The first sub-mode can be that the front and rear wheels rotate together and turn in different directions; the second sub-mode can be that the front wheels rotate and the rear wheels do not rotate; the third sub-mode The mode can be that the rear wheels do not turn and the front wheels turn.

Fig. 7 shows a schematic diagram of the crab pattern. The crab mode is a unique mode for a class of commercial vehicles. In crab driving mode, the front and rear wheels of the vehicle turn in the same direction at the same time, the heading angle of the vehicle remains unchanged when changing lanes, and the sweeping area of the vehicle body is relatively smaller. However, this mode requires the same heading angle of the front and rear lanes, which is not as flexible as the natural turning mode, and is often used in lane changing scenarios.

Since the cloud server has more complete information than the vehicle, formulating a driving mode for the vehicle through the cloud server can help the vehicle complete path tracking more effectively. The driving mode considerations include whether the heading angle before and after the lane change is consistent, the length of the variable lane, and obstacle information. Exemplarily, if the heading angle of the lane before and after the lane change is required to be the same, the crab mode can be used. Exemplarily, when the vehicle needs to change lanes across multiple lanes, the natural turning mode can be used.

S306, the route planning module sends route information to the vehicle, and the route information includes the information of the one or more road segments and the planned time information of the vehicle traveling on the one or more road segments.

Exemplarily, FIG. 8 shows a schematic diagram of route information delivered to vehicles by the route planning module in the embodiment of the present application. The path information shown in FIG. 8 includes key path points 1-9. At each critical path point there is usually a change in speed or driving mode. Taking critical path points 1-5 shown in FIG. 8 as an example, the information of these five critical path points can be shown in Table 1.

Table 1 Information of key path points

Among them, STRAIGHT means straight mode, LANCECHANG means crab mode, TURN means natural turning mode.

Key path point 1 is the starting point of the entire path, so its speed is 0. The path from critical path point 1 to critical path point 2 is acceleration, and the path from critical path point 2 to critical path point 3 is a constant speed. Therefore, with critical path point 2 as the boundary, the speed patterns on both sides are different. So key path point 2 is a key node. At the same time, since critical path point 2 to critical path point 3 travel at a constant speed, so the speed of critical path point 3 is consistent with that of critical path point 2, then the speed information of critical path point 3 can not be given, and the speed of critical path point 2 can be directly inherited information. With the critical path point 3 as the boundary, the car was traveling in a straight line before, and then changed lanes as a crab, so the critical path point 3 is also a key node. In the same way, driving modes also have inherited characteristics.

In one embodiment, the route information also includes a task ID, and the vehicle can match the task ID in the route information with the task ID in the navigation information. If the matching is successful, the vehicle can determine that the route information is for the vehicle. Task information.

In the embodiment of this application, the cloud server will also send time information when sending location information to the vehicle, and control the driving of the vehicle from the two dimensions of space and time, so as to ensure the effectiveness of the cloud server for multi-vehicle collaborative path planning , to avoid conflicts between vehicles, and effectively improve the efficiency of vehicle operations or traffic.

FIG. 9 shows a schematic flowchart of a path planning method 900 provided by an embodiment of the present application. The method can be executed by the vehicle and a cloud server, wherein the cloud server includes a path planning module and a cooperative driving map module, and the method 900 includes:

S901. The vehicle sends mission information to a cloud server.

It should be understood that for the description of the task information, reference may be made to the description in the foregoing embodiments, and details are not repeated here.

S902. The cloud server sends navigation information to the vehicle according to the task information.

After receiving the task information, the cloud server first judges whether the task information is legal, and if it is legal, generates a task ID, which is used to distinguish the tasks of other vehicles and match when sending routes; otherwise, it rejects the route planning application. If the task does not specify an end point, select an end point for it according to its task purpose. For example, if the task purpose is charging and no charging point is specified, the cloud can select an available charging point for it. Finally, the cloud sends the navigation information to the car terminal.

In this embodiment of the present application, it is considered that the final destination in the path information issued by the cloud server may be inconsistent with the task destination in the task information (for example, the task destination carried in the task information is location a, and the cloud server determines that the task destination from If there are obstacles in the feasible path from the current position of the vehicle to position a, the cloud server may carry the information that the final destination is temporary parking position b in the route information sent to the vehicle), so that the vehicle needs to pass through the navigation information. The task ID and the task ID in the route information are used to determine that the route information is actually the route information for the vehicle, so that the vehicle can perform operations or travel tasks according to the route information issued by the vehicle.

S903, the cloud server sends route information to the vehicle.

It should be understood that, for the process of the cloud server determining path information according to the task information, reference may be made to the description in the foregoing embodiments, and details are not repeated here.

S904, the vehicle verifies the route information.

When the vehicle receives the route information, it can check whether there is a problem with the route information. If there is a problem, you need to report to the cloud and apply for re-planning the route. Verification content includes but is not limited to the following:

(1) Whether the task ID in the navigation information is consistent with the task ID in the route information.

(2) Whether the task destination in the navigation information is consistent with the end point in the route information. This item is optional, because in some scenarios, the platform may issue a short navigation path to the vehicle. For example, if the vehicle needs to stop temporarily because there is an obstacle in front of it, the route of the vehicle from the current position to the temporary parking point will be issued first. After the obstacle car leaves, the path information from the temporary parking lane to the target end point can be issued. In this scenario, the task destination in the navigation information is not necessarily consistent with the end point in the route information.

(3) Whether there is any error in the location information of the planning path point, for example, there is a turning point in the path, or there is a point with a sudden change in the path.

It should be understood that the path information indicates that the vehicle travels in a straight line between the associated waypoint 1 and the key waypoint 2 and between the associated waypoint 2 and the keyway point 3 . If the vehicle determines that the coordinates of the key path point 2 in the path information are not on the line connecting the key path point 1 and the associated path point 3, then the vehicle can determine that the key path point 2 is a point where the position changes suddenly.

(4) Whether there is an error in the time information in the route information. For example, if the required arrival time of the downstream waypoint is earlier than the required arrival time of the upstream waypoint, or the required arrival time of a certain waypoint is earlier than the current time, then the vehicle can determine that there is a problem with the route information.

(5) Whether there is an error in the driving mode in the route information.

For example, if the driving mode indicated by a lane-changing route in the route information is crab driving mode, but the heading angles of the lanes before and after the lane change are inconsistent, or the driving mode cannot be switched to this driving mode according to the vehicle’s maneuverability constraints, then the vehicle can determine the route There is a problem with the information.

In one embodiment, if the vehicle determines that there is a problem with the route information through the verification, the vehicle can stop and send the verification result to the cloud server.

FIG. 10 shows a schematic flowchart of a path planning method 1000 provided by an embodiment of the present application. The method can be executed by a vehicle, a cloud server, and an upper layer application (or platform), and the method 1000 includes:

S1001. The upper-layer application (or platform) sends task information to the cloud server, and the task information indicates that the vehicle needs to perform a herringbone U-turn.

Fig. 11 shows a schematic diagram of a herringbone U-turn, and some connecting roads have both the functions of a natural turn and a herringbone U-turn. Unlike passenger cars, some commercial vehicles have the ability to drive in both directions in a production environment (for example, automated guided vehicles (AGV)). In order to complete a special task, the vehicle needs to make a U-turn along the entire path. When planning a path, the cloud server can select a suitable location for the vehicle to realize a herringbone U-turn.

In an embodiment, the task purpose in the task information may include information indicating that the vehicle needs to perform a chevron turn.

S1002. The cloud server determines a feasible path according to the task information, and one or more sections of roads in the feasible path can be used for a herringbone U-turn.

In one embodiment, the cloud server can plan a feasible route for the vehicle according to the task information and the inherent attributes of the road. The feasible path may include one or more sections of roads, and the one or more sections of roads may be used for a herringbone U-turn.

S1003. The cloud server sends information about the feasible path and one or more road sections in the feasible path to the upper layer application.

After the upper-layer application receives information about the feasible route and one or more road segments in the feasible route, it may prompt the user with information about the feasible route and one or more road segments in the feasible route through the UI. The user can select a certain section of road from the section or multiple sections of road, and this section of road can be used for the vehicle to make a herringbone U-turn.

S1004, the upper layer application sends the information of the first road to the cloud server, and the first road is a road on which the vehicle performs a herringbone U-turn.

In one embodiment, if the cloud server in S1002 determines that only a segment of the feasible path can be used for a herringbone U-turn, then the cloud server may also directly execute S1005.

S1005. The cloud server determines route information according to the feasible route and the information of the first road.

Exemplarily, FIG. 12 shows a schematic diagram of route information delivered to vehicles by the route planning module in the embodiment of the present application. The route information shown in FIG. 12 includes key route points 1-10. At each critical path point there is usually a change in speed or driving mode. Taking critical path points 1-6 shown in FIG. 12 as an example, the information of these six critical path points can be shown in Table 2.

Table 2 Information of key path points

At critical path point 6, the cloud server instructs the vehicle to perform a herringbone U-turn. Then when the vehicle travels to the critical path point 6, it can check the path heading angle at the critical path point 6 on the road from the critical path point 5 to the critical path point 6 and the distance between the critical path point 6 and the critical path point 7. The path heading angle at the key path point 6 on a road segment. If the difference between the path navigation angles is greater than or equal to a preset angle (for example, 180°), the vehicle may determine that a chevron U-turn has been achieved at the critical path point 6 . Otherwise, the vehicle may consider that there is a problem with the verification of the route information, and the vehicle may report the verification result to the cloud server.

It should be understood that for the description of the key path points 1-5, reference may be made to the above description of the key path points 1-5 in Table 1, and details are not repeated here.

S1006, the cloud server sends the route information to the vehicle.

After the vehicle receives the route information sent by the cloud server, it can operate or pass according to the route information.

S1007. The cloud server sends the path information to the upper layer application.

After receiving the path information, the upper application may prompt the user with the path information through the UI.

It should be understood that S1006 and S1007 are not in an actual sequence.

FIG. 13 shows a schematic flowchart of a path planning method 1300 provided by an embodiment of the present application. The method 1300 may be performed by the first server and the vehicle, the method 1300 includes:

S1301. The first server obtains a first route, where the first route is a route from the current position of the vehicle to the task destination, and the first route includes one or more road segments.

Optionally, before the first server acquires the first path, the method further includes: the first server acquires task information, where the task information includes information for indicating the task destination. The task destination can be the end destination of the task, and the first path is the path from the current position of the vehicle to the final destination of the task; the task destination can also include one or more waypoints or interruption points to reach the final destination of the task. When sending the route information to the vehicle, the first server may first send the route from the current position of the vehicle to the passing point or the interruption point. After the vehicle arrives at these locations, the first server may continue to send the route to the next passing point or interruption point to the vehicle until the vehicle reaches the final destination of the task. Wherein, before the vehicle sends a path to a passing point or interruption point each time, the first server can obtain the path of the vehicle from the current position to the final destination of the task, or obtain the path of the vehicle from the current position to the next passing point or disembarkation point. A path to a breakpoint.

Optionally, the acquiring task information by the first server includes: the first server receiving task information sent by a second server, where the second server may be a server corresponding to the above-mentioned upper-layer application.

Exemplarily, for the port scenario, after the second server receives the user's instruction, the second server sends the task information to the first server.

Optionally, the acquiring task information by the first server includes: the first server receiving task information sent by the vehicle.

Exemplarily, for scenarios such as urban or high-speed traffic, the vehicle may send the task information to the first server after the vehicle detects the user's instruction.

Optionally, the second path and the first path may be the same path.

Optionally, the second path may include the first path.

Optionally, the vehicle may send information such as the vehicle's current position, heading angle, and speed to the first server in real time. For example, when at least one parameter among the vehicle's current position, heading angle and speed changes, the vehicle may report the changed parameter to the first server. For another example, the vehicle may send the above parameters to the first server according to a preset period.

S1302. The first server determines the planned time information of the vehicle traveling on each section of the road section or sections, and the total number of vehicles on each section of the road when the vehicle is traveling on the section of road is less than or equal to the capacity of the road.

In the embodiment of the present application, after obtaining the first route, the first server may determine the planned time information for the vehicle to travel on one or more road segments according to the capacity of one or more road segments in the first route. The first server can determine the planning time information of the current vehicle traveling on one or more road sections according to the route and time planning of other vehicles and the capacity of one or more road sections in the first route, so as to avoid conflicts among multiple vehicles. For a specific determination process, reference may be made to the description in S305 above, which will not be repeated here.

S1303. The first server sends route information to the vehicle, where the route information includes information about at least one segment of the one or more segments of roads and information about a planned time for the vehicle to travel on the at least one segment of roads.

Optionally, the information on the at least one section of roads includes lane information of vehicles traveling on each section of the at least one section of roads.

It should be understood that, in the embodiment of the present application, after determining the route information of the vehicle, the first server may send the information of all roads in the first route and the planned time information of the vehicle traveling on each road section to the vehicle. Alternatively, the first server may also send information about at least one section of the road in the first route and information about the planned time for traveling on the at least one section of the road to the vehicle. For example, the at least one section of road may include the first section of road in the first route, or include the first section of road and the second section of road in the first route.

Exemplarily, the route information sent by the first server to the vehicle may carry information about the first segment of the road in the first route and information about the planned time for the vehicle to travel on the first segment of the road. The vehicle can travel from the current location to the end of the first section of the road according to the route information. At this time, the vehicle can report to the first server that it has reached the end point of the first section of road and the time information when it arrives at the end point of the first section of road. The information of the second section of road and the planned time information of the vehicle traveling on the second section of road, and so on.

Exemplarily, the path information may refer to information of key path points shown in Table 1 or Table 2.

Optionally, the at least one section of road includes a first road, and the planned time information of the vehicle traveling on the first road includes information indicating a first moment and information indicating a second moment, and the first moment is The moment when the vehicle enters the first road, the second moment is the moment when the vehicle leaves the first road, and the method further includes: between the first moment and the second moment, if on the first road the total number of vehicles is greater than the capacity of the first road and the priority of the vehicle is higher than that of another vehicle, the first server instructs the other vehicle to leave the first road before the first time, or, Instructing the other vehicle to enter the first road after the second moment, the other vehicle being a vehicle preparing to travel on the first road between the first moment and the second moment.

Exemplarily, the first server determines that vehicle ₁ enters the first road at time t1 and leaves the first road at time _t2 , and the first server previously planned for vehicle 2 to enter the first road at time _t1 . road and leave the first road at time _t2 . If the first server determines that the capacity of the first road is 1 and the priority of vehicle 1 is greater than that of vehicle 2, then the first server may instruct vehicle 2 to leave the first road before time _t1 , or instruct Vehicle 2 enters the road after time _t2 .

In one embodiment, the first server instructs the other vehicle to leave the first road before the first moment, or the method of instructing the other vehicle to enter the first road after the second moment may be The first server sends new route information to another vehicle.

In one embodiment, another vehicle can determine its driving information by itself after receiving the instruction from the first server. For example, another vehicle may increase speed to ensure that it leaves the first road before the first moment; or, the other vehicle may reduce speed to ensure that it enters the first road after the second moment .

Optionally, the planned time information of the vehicle traveling on each section of road includes the time of entering each section of road and the time of leaving each section of road, or, the planned time information of the vehicle traveling on each section of road Including the time when the vehicle enters each section of the road and the speed information of the vehicle on the each section of the road, or, the planned time information for the vehicle to travel on each section of the road includes the time when the vehicle leaves each section of the road and the vehicle's speed on the each section of the road. Speed information on each road segment.

Optionally, the route information further includes information about the driving mode of the vehicle on the at least one section of the road, and the driving mode includes at least one of straight-line driving, natural turning mode or crab driving mode.

Optionally, the acquiring the first route by the first server includes: determining, by the first server, a road that allows the vehicle to travel according to the traffic level of the vehicle and/or the type of the vehicle, and the road that allows the vehicle to travel includes the One or more sections of road; the first server obtains the first route according to the road that allows the vehicle to travel.

Exemplarily, the traffic level of the vehicle may be carried in the task information, and the first server may determine the road that the vehicle is allowed to drive according to the traffic level of the vehicle, wherein the traffic level of the vehicle may be greater than or equal to the road that the vehicle is allowed to drive. grade. For example, the first server may determine that the vehicle can travel on roads 1-9, wherein roads 1-3 form route 1, roads 4-6 form route 2, roads 7-9 form route 3, route 1, route 2 and route 3 It may be the path from the current position of the vehicle to the mission destination. The vehicle may select a route from route 1, route 2 and route 3 as the above-mentioned first route.

Exemplarily, the first server can send the route 1, route 2 and route 3 to the vehicle, and the vehicle can prompt these 3 routes through the HMI. When the vehicle detects that the user has selected a certain route, the vehicle can use the route The information is sent to the first server, and then the first server can combine the capacity of the roads on the route to determine the planned time information for the vehicle to travel on each road segment in the route.

Exemplarily, the type of the vehicle may be carried in the task information, and the first server may determine a road that allows the vehicle to travel according to the type of the vehicle. For example, if the type of the vehicle is a special vehicle such as an ambulance or a fire truck, then the first server may determine that all roads from the current position of the vehicle to the mission destination are passable.

Exemplarily, the first server stores the mapping relationship between the type of the vehicle and the level of the vehicle, and the first server can determine the level of the vehicle when the type of the vehicle is obtained, if the level of the vehicle is greater than or equal to the level of a certain road , then the first server can determine that the road allows vehicles to travel.

In an embodiment, acquiring the first path by the first server may be acquiring the first path when receiving task information, or acquiring the first path in advance.

Exemplarily, the task destination of the vehicle may be location 1, and the first server may obtain a second route from the current location of the vehicle to location 1 according to the current location information of the vehicle and location 1. If the first server determines that there is a fault point in the second path at this time, the first server may divide the second path into a first path and a third path at this time, wherein the first path is the path from the fault point to location 1 , the third path is the path from the current position of the vehicle to the fault point. The first server may deliver route information corresponding to the third route to the vehicle. After receiving the route information corresponding to the third route, the vehicle can travel to the fault point according to the route information corresponding to the third route.

When the first server determines that the vehicle has driven to the fault point and the fault at the fault point disappears at this time, the server can send the route information corresponding to the first route to the vehicle, and the route information corresponding to the first route can include the one or more road segments Information about at least one section of the road and information about the planned time when the vehicle travels on the at least one section of the road.

Optionally, the acquiring the first path by the first server includes: the first server sending information about the task destination to a third server; the first server acquiring the first path obtained by the third server according to the task destination. path information.

Optionally, the third server may be a map server.

Optionally, the first server stores map information, and the first server obtains the second route according to the mission destination, including: the first server determines the second route according to the stored map information and the mission destination. path.

It should be understood that, in this embodiment of the present application, the first server and the third server may be located in the same server, or may be located in different servers, which is not limited in the present application.

Optionally, the route information further includes information for instructing the vehicle to perform a chevron turn on a second road, and the at least one section of road includes the second road.

Exemplarily, if the first server determines that the task information includes information indicating that the vehicle needs to perform a herringbone U-turn, then the vehicle can determine which roads can be used for the vehicle to perform a U-turn from the multiple sections of roads in the first route after obtaining the first route. Herringbone U-turn. If there are multiple sections of roads that support the herringbone U-turn, then the first server can send the information of the multi-section roads that support the Herringbone U-turn to the second server (or vehicle), so that the second server (or vehicle) reminds the user to select a section of road to perform the turn. Zigzag U-turn. After the second server (or vehicle) detects the user's operation of selecting a certain road, it can send the information of the road to the first server, so that the first server can carry the path information for indicating the vehicle in the route information sent to the vehicle. Information on roads on which to perform a herringbone U-turn. Alternatively, only a section of the road in the first route supports a herringbone U-turn, then the first server may directly carry information for indicating the road on which the vehicle performs a herringbone U-turn in the route information sent to the vehicle.

In the embodiment of the present application, the route information issued by the server to the vehicle may include information on one or more roads and the planned time information on which the vehicle travels on one or more roads. Control helps avoid conflicts between vehicles and improves the efficiency of traffic between vehicles, thereby helping to achieve orderly operations or traffic between vehicles.

Optionally, the method further includes: the vehicle prompts the user with information about the planned time when the vehicle travels on the at least one section of the road.

Exemplarily, the vehicle may prompt the user with information about the planned time for the vehicle to travel on the at least one section of the road through sound or a human-machine interface HMI.

Exemplarily, when the vehicle is driving on a certain section of the road in the first route, the vehicle can display the moment when the vehicle reaches the starting point of the section of the road through the HMI, the speed information of traveling on the section of the road and the time when the vehicle reaches the end of the section of the road. moment.

Optionally, the route information includes first identification information, and before the vehicle receives the route information sent by the first server, the method further includes: the vehicle sends task information to the first server, and the task information includes information for indicating The task destination information; the vehicle receives the second identification information sent by the first server according to the task information; wherein, the method includes: if the first identification information and the second identification information match, the vehicle according to the route information travel.

Exemplarily, the first server may send the first ID to the vehicle after receiving the task information sent by the vehicle. After the first server determines the route information, the second ID may be carried in the route information sent to the vehicle. The vehicle can check the first ID and the second ID, and if the first ID matches the second ID, the vehicle can travel according to the route information.

It should be understood that the match between the first ID and the second ID can be understood as the first ID and the second ID are consistent, or the third ID obtained by the first ID through a preset algorithm (for example, a preset function operation) and the second ID Consistent, or, the fourth ID obtained by the second ID through a preset algorithm (for example, a preset function operation) is consistent with the first ID.

In the embodiment of the present application, the task destination of the vehicle received by the first server may be inconsistent with the destination in the first path issued by the first server to the vehicle (for example, there is a fault between the current position of the vehicle and the task destination). point, what the vehicle carries in the first path is the path information from the current location of the vehicle to the fault point), through the first identification information and the second identification information, the vehicle can accurately determine that the path information is the path information for the vehicle, thus Avoid misjudgment of vehicles.

Optionally, the method further includes: if the information on the at least one section of the road and/or information on the planned time of the vehicle traveling on the at least one section of the road is successfully verified, the vehicle travels according to the route information.

It should be understood that, for the verification process of the vehicle's information on the at least one section of road and/or the planned time information of the vehicle traveling on the at least one section of the road, reference may be made to the description in S904 above, which will not be repeated here.

FIG. 14 shows a schematic block diagram of an apparatus 1400 provided by an embodiment of the present application. The device 1400 includes:

An acquisition unit 1401, configured to acquire a first path, the first path is the path from the current position of the vehicle to the mission destination, and the first path includes one or more road sections;

Determining unit 1402, configured to determine the planned time information of the vehicle traveling on each section of the road section or sections, and the total number of vehicles on each section of the road when the vehicle is traveling on the section of road is less than or equal to the number of vehicles on each section of road the capacity of the road;

The sending unit 1403 is configured to send route information to the vehicle, where the route information includes information on at least one segment of the one or more segments of roads and information on the planned time for the vehicle to travel on the at least one segment of roads.

Optionally, the acquiring unit 1401 is further configured to acquire task information before acquiring the first route, where the task information includes information indicating the task destination; and acquire the second route according to the task destination, the A second path is associated with the first path.

Optionally, the at least one section of road includes a first road, and the planned time information of the vehicle traveling on the first road includes information indicating a first moment and information indicating a second moment, and the first moment is The moment when the vehicle enters the first road, the second moment is the moment when the vehicle leaves the first road, the sending unit is also used for: between the first moment and the second moment, if the second moment The total number of vehicles on one road is greater than the capacity of the first road and the priority of this vehicle is higher than that of another vehicle, sending instruction information to the other vehicle, the instruction information is used to indicate that the other vehicle is on the first road leaving the first road before the first time, or instructing the other vehicle to enter the first road after the second time, the other vehicle not preparing to travel between the first time and the second time vehicles on the first road.

Optionally, the planned time information of the vehicle traveling on the first road includes the information of the first moment and the information of the second moment, or, the planned time information of the vehicle traveling on the first road includes the first The time information and the speed information of the vehicle on the first road, or the planned time information of the vehicle traveling on the first road includes the information of the second time and the speed information of the vehicle on the first road.

Optionally, the route information further includes information about the driving mode of the vehicle on the at least one section of the road, and the driving mode includes at least one of straight-line driving, natural turning mode or crab driving mode.

Optionally, the acquiring unit 1401 is specifically configured to: determine a road that the vehicle is allowed to run on according to the traffic level of the vehicle and/or the type of the vehicle, and the road on which the vehicle is allowed to run includes the one or more roads; according to the The road on which the vehicle is allowed to travel is obtained from the first route.

Optionally, the obtaining unit 1401 is specifically configured to: send the information of the mission destination to the map server; obtain the information of the first route obtained by the map server according to the mission destination.

Optionally, the route information further includes information for instructing the vehicle to perform a chevron turn on a second road, and the at least one section of road includes the second road.

FIG. 15 shows a schematic block diagram of an apparatus 1500 provided by an embodiment of the present application. As shown in Figure 15, the device 1500 includes:

a sending unit 1501, configured to send information about the current location of the device to the server;

The receiving unit 1502 is configured to receive route information sent by the server, the route information includes information on at least one segment of roads in one or more segments of roads and information on the planned time for the device to travel on the at least one segment of roads, and the one or more segments of roads consist of The first path of is the path from the current location of the device to the task destination.

Optionally, the device 1500 further includes: a prompting unit, configured to prompt the user with information about the planned time for the device to travel on the at least one section of the road.

Optionally, the route information further includes information about the driving mode of the device on the at least one section of the road, and the driving mode includes at least one of straight-line driving, natural turning mode or crab driving mode.

Optionally, the route information includes information for instructing the device to perform a chevron turn on a second road, and the at least one section of road includes the second road.

Optionally, the path information includes first identification information, and the sending unit 1501 is further configured to send task information to the server before receiving the path information sent by the server, and the task information includes information for indicating the task destination. Information;

The receiving unit 1502 is further configured to receive second identification information sent by the server according to the task information;

The device also includes: a checking unit 1503, configured to determine that the first identification information matches the second identification information before the device runs according to the route information.

Optionally, the device further includes: a verification unit 1503, configured to determine information about the at least one section of road and/or information about the planned time for the device to travel on the at least one section of the road before the device travels according to the route information Validation succeeded.

The embodiment of the present application also provides a device, the device includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit, so that the device executes the first server in the above embodiment Steps executed; or, the processing unit executes the instructions stored in the storage unit, so that the device executes the steps executed by the vehicle in the above embodiments.

Optionally, if the device is located in a vehicle, the above-mentioned processing unit may be the processor 151 shown in FIG. 1, and the above-mentioned storage unit may be the memory 152 shown in FIG. , registers, cache, etc.), may also be a storage unit located outside the chip in the vehicle (eg, read-only memory, random access memory, etc.).

The embodiment of the present application also provides a computer program product, the computer program product including: computer program code, when the computer program code is run on the computer, the computer is made to execute the above method.

The embodiment of the present application also provides a server, and the server may include the above-mentioned apparatus 1400 .

The embodiment of the present application also provides a vehicle, which may include the above-mentioned device 1500 .

An embodiment of the present application also provides a vehicle control device, which may include the above-mentioned device 1400 . The vehicle control device can be presented in many different product forms. Exemplarily, the vehicle control device may be a server. Wherein, the server may be a single server, or may refer to a server cluster composed of multiple servers. The server can be a local server. In the field of the Internet of Vehicles, the server may specifically be a cloud server, and may also be called a cloud, a cloud, a cloud server, a cloud controller, or an Internet of Vehicles server. A cloud server is a general term for devices or devices with data processing capabilities, such as physical devices such as hosts or processors, virtual devices such as virtual machines or containers, and chips or integrated circuits. Optionally, the vehicle control device may also be a roadside unit (road sideunit, RSU), or a chip or component in the roadside unit.

The vehicle control device can be connected upwards to the upper layer application. For example, the operator can configure the vehicle control device through the upper-layer application, including but not limited to configuring functions of the vehicle control device, and issuing task information, control instructions, and the like. Furthermore, the vehicle control device can uniformly schedule related vehicles in the system according to the configuration information, task information, control instructions, etc. obtained from the upper-layer application, and use other information that can be obtained by itself, so as to improve the overall operating efficiency of the vehicle.

FIG. 16 shows a schematic block diagram of a system 1600 provided by an embodiment of the present application. As shown in Fig. 16, the system 1600 may include a first server 1601 and a vehicle 1602, wherein the first server 1601 may be the first server in the above embodiment, and the vehicle 1602 may be the vehicle in the above embodiment.

The embodiment of the present application also provides a computer-readable medium, the computer-readable medium stores program codes, and when the computer program codes are run on a computer, the computer is made to execute the above method.

In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The methods disclosed in the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware. To avoid repetition, no detailed description is given here.

It should be understood that, in the embodiment of the present application, the processor may be a central processing unit (central processing unit, CPU), and the processor may also be other general processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits ( Application specific integrated circuit (ASIC), off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

It should also be understood that in the embodiment of the present application, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

In the embodiment of the present application, "first", "second" and various numbers are only for convenience of description, and are not used to limit the scope of the embodiment of the present application. For example, differentiating between different lines, vias, etc.

It should be understood that the term "and/or" in this article is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B may mean: A exists alone, and A and B exist at the same time , there are three cases of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

It should be understood that, in various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application. The implementation process constitutes any limitation.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disk and other various media that can store program codes. .

The above is only a specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application. should be covered. Within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims (36)

1. A method for path planning, comprising: Obtaining a first path, the first path is a path from the current position of the vehicle to the task destination, and the first path includes one or more road sections; determining the planned time information for the vehicle to travel on each of the one or more roads, so that the total number of vehicles on each road when the vehicle travels according to the planned time information on each road less than or equal to the capacity of each road section; sending route information to the vehicle, the route information including information on at least one segment of the one or more segments of roads and information on the planned time for the vehicle to travel on the at least one segment of roads. 2. The method according to claim 1, wherein, before the acquiring the first path, the method further comprises: Acquiring task information, the task information including information indicating the task destination. 3. The method according to claim 1 or 2, wherein the at least one section of road includes a first road, and the planned time information of the vehicle traveling on the first road includes a time frame for indicating the first moment. information and information for indicating a second moment, the first moment is the moment when the vehicle enters the first road, and the second moment is the moment when the vehicle leaves the first road, so The method also includes: Between the first moment and the second moment, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than the priority of another vehicle, instruct the said another vehicle leaves said first road before said first moment, or instructs said another vehicle to enter said first road after said second moment, said another vehicle is scheduled to A vehicle traveling on the first road between the first moment and the second moment. 4. The method according to any one of claims 1 to 3, characterized in that the planned time information of the vehicle traveling on each section of the road includes the time when the vehicle enters the each section of the road and the time when it leaves the road. the moment of describing each section of the road, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle enters each section of road and the speed information of the vehicle on each section of road, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle leaves each section of road and the speed information of the vehicle on each section of road. 5. The method according to any one of claims 1 to 4, wherein the route information further includes information on the driving mode of the vehicle on the at least one section of the road, the driving mode includes straight-line driving , natural turn mode or crab mode at least one. 6. The method according to any one of claims 1 to 5, wherein said acquiring the first path comprises: According to the traffic level of the vehicle and/or the type of the vehicle, determine a road that allows the vehicle to travel, and the road that allows the vehicle to travel includes the one or more road sections; The first route is obtained according to the road on which the vehicle is allowed to travel. 7. The method according to any one of claims 1 to 6, wherein said obtaining the first path comprises: sending the information of the task destination to the map server; Acquiring the information of the first route obtained by the map server according to the task destination. 8. The method according to any one of claims 1 to 7, wherein the route information further includes information for instructing the vehicle to perform a herringbone U-turn on the second road, and the at least one section The roads include the second road. 9. A method for path planning, comprising: Send information about the current location of the vehicle to the server; receiving the path information sent by the server, the path information including information on at least one section of roads in one or more sections of roads and information on the planned time for the vehicle to travel on the at least one section of roads, the vehicle according to the The total number of vehicles on each section of the road is less than or equal to the capacity of each section of the road when the planned time information on each section of the road is traveling, and the first path formed by the one or more sections of the road is from the current position of the vehicle The path to the task destination. 10. The method according to claim 9, wherein the at least one section of road comprises a first road, and the planned time information of the vehicle traveling on the first road includes information indicating the first moment and information for indicating a second moment, the first moment is the moment when the vehicle enters the first road, and the second moment is the moment when the vehicle leaves the first road, the method Also includes: The vehicle receives the instruction information sent by the server, the instruction information is used to instruct the vehicle to leave the first road between the third moment; or to instruct the vehicle to drive into the first road after the fourth moment a road; Wherein, another vehicle is a vehicle planned to travel on the first road between the third moment and the fourth moment, and the priority of the other vehicle is greater than or equal to the priority of the vehicle, The third moment is the same as the first moment or the third moment is after the first moment, or the fourth moment is the same as the second moment or the fourth moment is after the first moment Two hours ago. 11. The method according to claim 9 or 10, characterized in that, the planned time information of the vehicle traveling on each section of road includes the time of entering each section of road and the time of leaving each section of road moment, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle enters each section of road and the speed information of the vehicle on each section of road, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle leaves each section of road and the speed information of the vehicle on each section of road. 12. The method according to any one of claims 9 to 11, further comprising: Prompting the user with information about the planned time when the vehicle travels on the at least one section of the road. 13. The method according to any one of claims 9 to 12, wherein the route information further includes information on the driving mode of the vehicle on the at least one section of the road, the driving mode includes straight-line driving , natural turn mode or crab mode at least one. 14. The method according to any one of claims 9 to 13, wherein the route information includes information for instructing the vehicle to perform a herringbone U-turn on the second road, and the at least one section of road Include the second path. 15. The method according to any one of claims 9 to 14, wherein the path information includes first identification information, and before receiving the path information sent by the server, the method further includes: sending task information to the server, where the task information includes information indicating a destination of the task; receiving second identification information sent by the server according to the task information; Wherein, the method includes: If the first identification information matches the second identification information, travel according to the route information. 16. The method according to any one of claims 9 to 14, further comprising: If the verification of the information of the at least one section of road and/or the planned time information of the vehicle traveling on the at least one section of the road is successful, travel according to the route information. 17. A device, characterized in that it comprises: An acquisition unit, configured to acquire a first path, the first path is a path from the current position of the vehicle to the mission destination, and the first path includes one or more road sections; a determining unit, configured to determine the planned time information of the vehicle traveling on each of the one or more road sections, so that each section of the road will The total number of vehicles on board is less than or equal to the capacity of each road section; A sending unit, configured to send route information to the vehicle, where the route information includes information on at least one segment of the one or more segments of roads and information on a planned time for the vehicle to travel on the at least one segment of roads. 18. The device according to claim 17, wherein the acquiring unit is further configured to acquire task information before acquiring the first path, and the task information includes information indicating the destination of the task. information. 19. The device according to claim 17 or 18, wherein the at least one section of road includes a first road, and the planned time information of the vehicle traveling on the first road includes a information and information for indicating a second moment, the first moment is the moment when the vehicle enters the first road, and the second moment is the moment when the vehicle leaves the first road, so The sending unit is further configured to: between the first moment and the second moment, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than another the priority of a vehicle, sending indication information to the other vehicle, the indication information is used to indicate that the other vehicle leaves the first road before the first moment, or indicates that the other vehicle The vehicle enters the first road after the second time, and the other vehicle is a vehicle that is planned to travel on the first road between the first time and the second time. 20. Apparatus according to any one of claims 17 to 19, wherein The planned time information of the vehicle traveling on each section of road includes the time of entering each section of road and the time of leaving each section of road, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle enters each section of road and the speed information of the vehicle on each section of road, or, The planning time information of the vehicle traveling on each section of road includes the time when the vehicle leaves each section of road and the speed information of the vehicle on each section of road. 21. The device according to any one of claims 17 to 20, wherein the route information further includes information on the driving mode of the vehicle on the at least one section of road, and the driving mode includes straight-line driving , natural turn mode or crab mode at least one. 22. The device according to any one of claims 17 to 21, wherein the acquiring unit is specifically used for: According to the traffic level of the vehicle and/or the type of the vehicle, determine a road that allows the vehicle to travel, and the road that allows the vehicle to travel includes the one or more road sections; The first route is obtained according to the road on which the vehicle is allowed to travel. 23. The device according to any one of claims 17 to 22, wherein the acquiring unit is specifically used for: sending the information of the task destination to the map server; Acquiring the information of the first route obtained by the map server according to the task destination. 24. The device according to any one of claims 17 to 23, wherein the route information further includes information for instructing the vehicle to perform a herringbone U-turn on the second road, and the at least one section The roads include the second road. 25. A device, characterized in that it comprises: a sending unit, configured to send information about the current location of the device to a server; The receiving unit is configured to receive the path information sent by the server, the path information includes information on at least one section of roads among one or more sections of roads and information on the planned time when the device travels on the at least one section of roads, and the device travels on the at least one section of roads. The total number of vehicles on each section of the road is less than or equal to the capacity of each section of the road when the planned time information on each section of the road is traveling, and the first path formed by the one or more sections of road is from The path from the current location of the device to the task destination. 26. The device according to claim 25, wherein the at least one section of road includes a first road, and the planned time information of the device traveling on the first road includes information indicating the first moment and information for indicating a second moment, the first moment is the moment when the device enters the first road, and the second moment is the moment when the device leaves the first road, The receiving unit is further configured to receive instruction information sent by the server, the instruction information is used to instruct the device to leave the first road before the third moment; or, to instruct the device to leave the first road after the fourth moment enter said first road; Wherein, another vehicle is a vehicle planned to drive on the first road between the third moment and the fourth moment, and the priority of the other vehicle is greater than or equal to the priority of the device, The third moment is the same as the first moment or the third moment is after the first moment, or the fourth moment is the same as the second moment or the fourth moment is after the first moment Two hours ago. 27. The device according to claim 25 or 26, characterized in that, the planned time information of the device traveling on each section of road includes the time of entering each section of road and the time of leaving each section of road moment, or, The planning time information of the device traveling on each road section includes the time when the device enters each road section and the speed information of the device on each road section, or, The planning time information of the device traveling on each section of the road includes the time when the device leaves each section of the road and the speed information of the device on the each section of the road. 28. The device according to any one of claims 25 to 27, further comprising: A prompting unit, configured to prompt the user with information about the planned time for the device to travel on the at least one section of the road. 29. The device according to any one of claims 25 to 28, wherein the route information further includes information on the driving mode of the device on the at least one section of road, and the driving mode includes straight-line driving , natural turn mode or crab mode at least one. 30. The device according to any one of claims 25 to 29, wherein the route information includes information for instructing the device to perform a herringbone U-turn on the second road, and the at least one section of road Include the second path. 31. The device according to any one of claims 25 to 30, wherein the path information includes first identification information, and the sending unit is further configured to, before receiving the path information sent by the server, send The server sends task information, and the task information includes information indicating the destination of the task; The receiving unit is further configured to receive second identification information sent by the server according to the task information; The device further includes: a checking unit, configured to determine that the first identification information matches the second identification information before the device travels according to the route information. 32. The device according to any one of claims 25 to 30, further comprising: A verification unit, configured to determine that the information of the at least one section of road and/or the planned time information of the device traveling on the at least one section of road is successfully verified before the device travels according to the route information. 33. A server, comprising the device according to any one of claims 17-24. 34. A vehicle comprising a device as claimed in any one of claims 25 to 32. 35. A system, characterized in that the system comprises a server and a vehicle, wherein the server is the server according to claim 33, and/or the vehicle is the vehicle according to claim 34. 36. A computer-readable storage medium, characterized in that the computer-readable medium stores program codes, and when the program codes are run on a computer, the computer executes the program described in any one of claims 1 to 8. method described; or, When the program code is run on the computer, the computer is made to execute the method according to any one of claims 9-16.

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